CN109606239B - Bionic lifting mechanism with active metamorphic function for rescue vehicle - Google Patents
Bionic lifting mechanism with active metamorphic function for rescue vehicle Download PDFInfo
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- CN109606239B CN109606239B CN201910078410.0A CN201910078410A CN109606239B CN 109606239 B CN109606239 B CN 109606239B CN 201910078410 A CN201910078410 A CN 201910078410A CN 109606239 B CN109606239 B CN 109606239B
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- hinge
- rescue vehicle
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- 230000007246 mechanism Effects 0.000 title claims abstract description 30
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 23
- 210000002758 humerus Anatomy 0.000 claims abstract description 45
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 18
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 15
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 12
- 230000009467 reduction Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 206010039203 Road traffic accident Diseases 0.000 description 4
- 230000035939 shock Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000034994 death Effects 0.000 description 2
- 231100000517 death Toxicity 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000003915 air pollution Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/12—Vehicles adapted to transport, to carry or to comprise special loads or objects for salvaging damaged vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/30—Height or ground clearance
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
A bionic lifting mechanism with an active metamorphic function for a rescue vehicle comprises: the artificial shoulder joint hinge, the artificial humerus connecting rod, the artificial elbow joint hinge, the extension arm, the wheel, the hydraulic telescopic rod, the shock-absorbing rubber pad, the motor and the speed reducer; the rescue vehicle chassis is connected with the upper part of the rubber pad; a motor, a speed reducer and a shoulder joint imitation hinge are arranged below the rubber pad; the motor and the speed reducer are connected with the spherical end of the shoulder-imitating joint hinge; the other end of the shoulder joint imitating hinge is connected with the fixed end of the humerus imitating connecting rod; the other end of the simulated humerus connecting rod is connected with one end of the simulated elbow joint hinge; the other end of the elbow joint imitating hinge is connected with the extension arm; the telescopic rod is respectively connected with the simulated humerus connecting rod and the extension arm; the extension arm is connected with the wheel; the invention has four different configurations so as to flexibly deal with various road conditions of obstacles encountered by the rescue vehicle in the way of going to the accident site and improve the rescue efficiency, and the wheels are driven by the hub motor independently, thereby omitting a large number of transmission parts and simplifying the vehicle structure.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a bionic lifting mechanism with an active metamorphic function for a rescue vehicle.
Background
With the rapid development of the automotive industry, automobiles are becoming increasingly important vehicles. Meanwhile, a series of problems such as city congestion, air pollution, traffic safety and the like are brought about. Among them, traffic accidents have become one of the most serious public safety problems today.
According to the data which can be checked by the national statistical bureau, the traffic accidents occur from 198394, 196812 and 187781 in three years only; the number of accident deaths is 58539 58523 and 58022. Although the number of traffic accidents and the number of deaths are reduced slightly, the total number is still huge.
Along with the increase of vehicles and drivers in successive years, the number of traffic accidents continuously rises, the problem of difficulty in rescue is obvious, how to quickly arrive at the accident scene, timely get rid of the traffic faults and rescue injured people become an urgent problem to be solved. However, the existing rescue vehicles are all ordinary vehicles, and can only run in a normal state, if various problems such as an obstacle road section, traffic jam, occupied emergency lane, unfamiliarity to an accident scene and the like are encountered, the time for the rescue vehicle to reach the scene is often prolonged, sometimes, even the best rescue time is missed, and the rescue efficiency is extremely low. At present, how to rapidly rescue the patient becomes a research topic of a plurality of departments.
Disclosure of Invention
In view of the above, the invention provides a bionic lifting mechanism with an active metamorphic function for a rescue vehicle, wherein the lifting mechanism has four configuration states, and can be switched to a suitable configuration state according to different rescue road conditions, so that the rescue vehicle can rapidly arrive at an accident scene through the switching of the four configuration states, and can be rapidly rescued.
The invention relates to a bionic lifting mechanism with an active metamorphic function for a rescue vehicle, which comprises: the four simulated shoulder joint hinges, the four simulated humerus connecting rods, the four simulated elbow joint hinges, the four extending arms, the four wheels, the eight hydraulic telescopic rods, the damping rubber pad, the two sets of motors and the speed reducer; the lower portion of a rescue vehicle chassis is connected with the upper portion of the shock-absorbing rubber pad, a motor and a speed reducer are arranged below the shock-absorbing rubber pad, the shoulder-imitated joint hinge is arranged below the shock-absorbing rubber pad, the motor and the speed reducer are connected with one spherical end of the shoulder-imitated joint hinge, the fixed end of the humerus-imitated connecting rod is connected with the other end of the shoulder-imitated joint hinge, the non-fixed end of the humerus-imitated connecting rod is connected with one end of the elbow-imitated joint hinge, the other end of the elbow-imitated joint hinge is connected with an extension arm, each two hydraulic telescopic rods are combined into a group, two ends of each group of hydraulic telescopic rods are respectively connected with a pair of humerus-imitated connecting rods;
the shoulder joint simulating hinge consists of a spherical end of a humerus simulating connecting rod, two circular rings and six telescopic locking convex rods on the circular rings, wherein the two circular rings are vertically intersected, and each circular ring is provided with three telescopic locking convex rods; one spherical end of the simulated humerus connecting rod is connected with the speed reducer, six cylindrical grooves are formed in one spherical end of the simulated humerus connecting rod, and the six cylindrical grooves correspond to the six telescopic locking convex rods; when the configuration is changed, the simulated humerus connecting rod rotates around the axis of one of the circular rings, when the configuration reaches the designated position, the telescopic locking convex rod on the circular ring is inserted into the groove at the spherical end of the simulated humerus connecting rod in an extending way, the position of the telescopic locking convex rod is fixed, and the locking is completed;
the simulated elbow joint hinge is composed of a simulated humerus connecting rod and an extension arm, wherein one end of the simulated humerus connecting rod is spherical, the other end of the simulated humerus connecting rod is cylindrical, the cylindrical end of the simulated humerus connecting rod is connected with the extension arm, and the simulated elbow joint hinge is locked by a ratchet wheel; the simulated humerus connecting rod can rotate vertically to the connecting shaft;
the two ends of each group of hydraulic telescopic rods are respectively connected with the simulated humerus connecting rod and the extension arm and symmetrically positioned at two sides of the connected simulated humerus connecting rod and the extension arm;
the wheel is driven by a hub motor;
adopt the produced beneficial effect of above-mentioned technical scheme to lie in: the bionic lifting mechanism with the active metamorphic function for the rescue vehicle can convert four different configurations, namely horizontal, semi-horizontal, widened and standing, can flexibly deal with various different obstacle road conditions, can penetrate through low spaces such as a cave and a tunnel, can cross over a higher and wider obstacle, can cross over a congested vehicle in front, and can quickly reach a rescue site, so that the rescue time is greatly shortened, and the rescue efficiency is improved; four wheels of the bionic lifting mechanism are driven by a hub motor, so that a large number of transmission parts are saved, the structure of the bionic lifting mechanism is simpler, the whole space utilization rate is high, and the transmission efficiency is good; the full-time four-wheel drive of the bionic lifting mechanism is realized, and the running speed of the rescue vehicle is improved.
Drawings
FIG. 1 is a schematic structural diagram of a bionic lifting mechanism for a rescue vehicle with an active metamorphic function, and is also a schematic structural side diagram of a second structural configuration of the mechanism
FIG. 2 is a schematic structural diagram of a second mechanism in the embodiment of the present invention
FIG. 3 is a schematic structural side view of a first mechanism in accordance with an embodiment of the present invention
FIG. 4 is a schematic diagram of a first embodiment of a mechanism
FIG. 5 is a schematic structural side view of a third embodiment of the present invention
FIG. 6 is a schematic structural diagram of a third embodiment of the present invention
FIG. 7 is a schematic structural side view of a mechanism configuration four in an embodiment of the present invention
FIG. 8 is a schematic structural side view of a mechanism configuration four in an embodiment of the present invention
FIG. 9 is a schematic view of a shoulder joint hinge structure according to an embodiment of the present invention
FIG. 10 is a schematic view of an elbow joint hinge structure according to an embodiment of the present invention
Wherein: in the figure, 1 is a schematic view of a rescue vehicle; 2 is a damping rubber pad; 3 is a motor and a reducer; 4 is an imitation shoulder joint hinge; 5 is an imitated humerus connecting rod; 6 is an elbow joint-imitating hinge; 7 is an extension arm; 8 is a wheel; 9 is a hydraulic telescopic rod; 10 is a limit structure of a simulated shoulder joint hinge, a, b and c are all telescopic locking convex rods simulating the rotation of the humerus connecting rod around an X axis, and d, e and f are all telescopic locking convex rods simulating the rotation of the humerus connecting rod around a Y axis.
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solution of the embodiments of the present invention with reference to the specific embodiments of the present invention and the accompanying drawings. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1 to 8, a bionic lifting mechanism for a rescue vehicle with an active metamorphic function has four configuration states, and a suitable configuration state can be selected according to different road conditions. Rescue vehicle chassis 1 below is connected with 2 tops of shock pad, and two motors and reduction gear 3 are equipped with to 2 below of shock pad, and four imitative shoulder joint hinges 4 are installed in 2 below of shock pad, and every set of motor and reduction gear 3 are connected with the spherical one end of two imitative humerus connecting rods 5, and four imitative humerus connecting rods 5's stiff end is connected with four imitative shoulder joint hinge 4's the other end respectively, and four imitative humerus connecting rods 5's the other end is connected with four imitative elbow joint hinge 6's one end respectively, four imitative elbow joint hinge 6's the other end is connected with four extension arms 7 respectively, and eight hydraulic telescoping rod 9, every two are a set of, and every two of hydraulic telescoping rod of group links to each other with imitative humerus connecting rod 5 and extension arm 7 respectively, and four extension arms 7 link.
The first structural state of the bionic lifting mechanism is horizontal, and when the rescue vehicle runs in a normal state, the bionic lifting mechanism is in a horizontal structural state. In a horizontal configuration, the simulated humerus connecting rod 5 and the extension arm 7 are both in a contraction state, the directions are not rotated, the simulated shoulder joint hinge 4 and the simulated elbow joint hinge 5 are both in a locking state, and the simulated humerus connecting rod 5 is limited and fixed by the simulated shoulder joint hinge limiting structure 10; in the construction state, the rescue vehicle has better hole drilling capability, and can smoothly pass through and quickly get to a rescue site if meeting lower spaces such as a cave, a tunnel and the like in rescue.
The bionic lifting mechanism is in a semi-horizontal type, the bionic lifting mechanism is converted on the basis of the first configuration, a locking device of the elbow-joint-simulated hinge 6 is opened, the extension arm 7 is driven by the hydraulic telescopic rod 9 to rotate forward by ninety degrees, the elbow-joint-simulated hinge 6 is locked again at the moment, and the height of the chassis of the rescue vehicle is integrally lifted; when the rescue vehicle encounters a large roadblock such as a stone block, a broken wood block and the like in the rescue process, the rescue vehicle can drive by switching the structural state, can easily cross and save rescue time; the configuration improves the passing capacity of the rescue vehicle in the vertical direction.
The third configuration of the bionic lifting mechanism is a widening type, the third configuration is converted on the basis of the second configuration, as shown in fig. 9, a telescopic locking convex rod on a circular ring in the shoulder-imitating joint hinge moves, three telescopic locking convex rods a, b and c rotating around an X axis contract, three telescopic locking convex rods d, e and f rotating around a Y axis extend and are inserted into the simulated humerus connecting rod 5, the simulated humerus connecting rod 5 rotates ninety degrees towards two sides respectively under the driving of a motor and a speed reducer 3, and the shoulder-imitating joint hinge 4 is locked and fixed. The transverse passing capacity of the rescue vehicle is improved by the structural configuration.
The bionic lifting mechanism has the fourth configuration which is standing, and the configuration is converted on the basis of the third configuration. On the basis of the third configuration, as shown in fig. 9, the telescopic locking convex rods on the circular ring in the simulated shoulder joint hinge move, the three telescopic locking convex rods (d, e, f) rotating around the Y axis contract, the telescopic locking convex rods (a, b, c) rotating around the X axis of the three connecting rods extend, the simulated humerus connecting rod 5 is inserted, the simulated humerus connecting rod 5 rotates ninety degrees inwards under the driving of the motor and the reducer 3, the extension arm 7 rotates ninety degrees outwards under the driving of the hydraulic telescopic rod 9, as shown in fig. 10, the simulated shoulder joint hinge 4 is locked and fixed, and the extension arm 7 and the simulated humerus connecting rod 5 are all straightened; when the vehicle is in the construction state, the chassis of the rescue vehicle is lifted to the highest position, the rescue vehicle runs in a full-station vertical state, and the vehicle easily crosses a small vehicle jammed in the front and quickly reaches a rescue site.
The bionic lifting mechanism has the following reverse process of configuration transformation: the principle of switching from configuration four to configuration one via configuration three and configuration two is the same as that of switching from configuration one to configuration four via configuration two and configuration three.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions and scope of the present invention as defined in the appended claims.
Claims (4)
1. A bionic lifting mechanism with an active metamorphic function for a rescue vehicle comprises: eight hinges, four connecting rods, four extension arms, four wheels, eight hydraulic telescoping rod, a rubber-reducing pad, two sets of motors and reduction gear, its characterized in that: four of the eight hinges are shoulder joint imitating hinges, and four of the eight hinges are elbow joint imitating hinges; the four connecting rods are simulated humerus connecting rods; the lower part of the rescue vehicle chassis (1) is connected with the upper part of the shock-absorbing rubber pad (2), a motor and a speed reducer (3) are arranged below the shock-absorbing rubber pad (2), the shoulder-imitating joint hinge (4) is arranged below the shock-absorbing rubber pad (2), the motor and the speed reducer (3) are connected with one spherical end of the simulated humerus connecting rod (5), one spherical end of the simulated humerus connecting rod (5) is connected with the other end of the simulated shoulder joint hinge (4), the other end of the simulated humerus connecting rod (5) is connected with one end of the simulated elbow joint hinge (6), the other end of the elbow joint imitating hinge (6) is connected with the extension arm (7), two hydraulic telescopic rods (9) are arranged in one group, two ends of each hydraulic telescopic rod are respectively connected with the simulated humerus connecting rod (5) and four extension arms (7), and the extension arms are connected with the wheels (8);
the imitation shoulder joint hinge (4) comprises: the humerus-imitated connecting rod comprises a spherical end imitating a humerus connecting rod (5), two circular rings and six telescopic locking convex rods (a, b, c, d, e and f) arranged on the circular rings, wherein the two circular rings are vertically intersected, and each circular ring is provided with three telescopic locking convex rods; the spherical end of the simulated humerus connecting rod (5) is provided with six cylindrical grooves which correspond to the six telescopic locking convex rods; when the simulated humerus connecting rod (5) rotates around the axis of any one of the circular rings and reaches a certain configuration designated position, the telescopic locking convex rod on the circular ring is inserted into the groove at the spherical end of the simulated humerus connecting rod (5) in an extending mode, and the simulated shoulder joint hinge (4) is locked and fixed.
2. The bionic lifting mechanism with the active metamorphic function for the rescue vehicle as claimed in claim 1 is characterized in that: the simulated elbow joint hinge (6) comprises: the simulated humerus connecting rod (5) and the extension arm (7), one end of the simulated humerus connecting rod (5) is spherical, the other end of the simulated humerus connecting rod is cylindrical, one cylindrical end of the simulated humerus connecting rod is connected with the extension arm, and the simulated elbow joint hinge (6) is locked by a ratchet wheel; the simulated humerus connecting rod (5) can rotate vertically to the connecting shaft.
3. The bionic lifting mechanism with the active metamorphic function for the rescue vehicle as claimed in claim 1 is characterized in that: eight hydraulic telescoping rod (9), every two are a set of, the both ends of every group respectively with imitative upper arm connecting rod (5) with extension arm (7) link to each other, the symmetry is located imitative upper arm connecting rod (5) and the both sides of extension arm (7) that link to each other.
4. The bionic lifting mechanism with the active metamorphic function for the rescue vehicle as claimed in claim 1 is characterized in that: the wheel (8) is driven by a hub motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910078410.0A CN109606239B (en) | 2019-01-28 | 2019-01-28 | Bionic lifting mechanism with active metamorphic function for rescue vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910078410.0A CN109606239B (en) | 2019-01-28 | 2019-01-28 | Bionic lifting mechanism with active metamorphic function for rescue vehicle |
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| Publication Number | Publication Date |
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| CN109606239A CN109606239A (en) | 2019-04-12 |
| CN109606239B true CN109606239B (en) | 2021-07-06 |
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| CN201910078410.0A Expired - Fee Related CN109606239B (en) | 2019-01-28 | 2019-01-28 | Bionic lifting mechanism with active metamorphic function for rescue vehicle |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111409605A (en) * | 2020-04-29 | 2020-07-14 | 吉林大学 | Height adjusting device for obstacle crossing electric rescue vehicle and obstacle crossing electric rescue vehicle |
| CN114701572A (en) * | 2022-04-27 | 2022-07-05 | 中原工学院 | Quick rescue vehicle for highway |
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|---|---|---|---|---|
| JP2014161991A (en) * | 2013-02-28 | 2014-09-08 | Nsk Ltd | Robot movement mechanism and robot comprising the same |
| CN104070958A (en) * | 2014-07-04 | 2014-10-01 | 中国农业大学 | Vehicle chassis height adjusting device and vehicle applying same |
| CN104859745A (en) * | 2015-05-20 | 2015-08-26 | 天津大学 | Multi-legged biomimetic robot with metamorphic mechanism on waist |
| CN106717208A (en) * | 2016-11-29 | 2017-05-31 | 中国农业大学 | A kind of wheelbase and adjustable for height high-clearance self-propelled chassis and its steering mechanism |
-
2019
- 2019-01-28 CN CN201910078410.0A patent/CN109606239B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014161991A (en) * | 2013-02-28 | 2014-09-08 | Nsk Ltd | Robot movement mechanism and robot comprising the same |
| CN104070958A (en) * | 2014-07-04 | 2014-10-01 | 中国农业大学 | Vehicle chassis height adjusting device and vehicle applying same |
| CN104859745A (en) * | 2015-05-20 | 2015-08-26 | 天津大学 | Multi-legged biomimetic robot with metamorphic mechanism on waist |
| CN106717208A (en) * | 2016-11-29 | 2017-05-31 | 中国农业大学 | A kind of wheelbase and adjustable for height high-clearance self-propelled chassis and its steering mechanism |
Non-Patent Citations (1)
| Title |
|---|
| "变胞机构的构态变换矩阵与运动副方位变胞";李树军;《中国机械工程》;20100731;第21卷(第14期);第1698-1703页 * |
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| CN109606239A (en) | 2019-04-12 |
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